feature:support save lvx file for lidar;

sample/hub_lvx_file/lvx_file.h

@@ -0,0 +1,110 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include <apr_thread_cond.h>
+#include <apr_thread_mutex.h>
+#include <apr_thread_proc.h>
+#include <condition_variable>
+#include <memory>
+#include <fstream>
+#include <list>
+#include <vector>
+#include <mutex>
+#include "livox_sdk.h"
+
+typedef enum {
+  kDeviceStateDisconnect = 0,
+  kDeviceStateConnect = 1,
+  kDeviceStateSampling = 2,
+} DeviceState;
+
+typedef struct {
+  uint8_t handle;
+  DeviceState device_state;
+  DeviceInfo info;
+} DeviceItem;
+
+#pragma pack(1)
+
+typedef struct {
+  uint8_t signature[16];
+  uint8_t version[4];
+  uint32_t magic_code;
+}LvxFileHeader;
+
+typedef struct {
+  uint8_t lidar_broadcast_code[16];
+  uint8_t hub_broadcast_code[16];
+  uint8_t device_index;
+  uint8_t device_type;
+  float roll;
+  float pitch;
+  float yaw;
+  float x;
+  float y;
+  float z;
+} LvxDeviceInfo;
+
+typedef struct {
+  uint8_t device_index;
+  uint8_t version;
+  uint8_t port_id;
+  uint8_t lidar_index;
+  uint8_t rsvd;
+  uint32_t error_code;
+  uint8_t timestamp_type;
+  uint8_t data_type;
+  uint8_t timestamp[8];
+  LivoxPoint point[100];
+}LvxBasePackDetail;
+
+typedef struct {
+  uint64_t current_offset;
+  uint64_t next_offset;
+  uint64_t frame_index;
+  uint64_t package_count;
+}FrameHeader;
+
+#pragma pack()
+
+class LvxFileHandle {
+public:
+  LvxFileHandle();
+
+  bool InitLvxFile();
+  void InitLvxFileHeader();
+  void SaveFrameToLvxFile(std::list<LvxBasePackDetail> &point_packet_list_temp);
+  void CloseLvxFile();
+
+  void AddDeviceInfo(LvxDeviceInfo &info) { device_info_list_.push_back(info); };
+  int GetDeviceInfoListSize() { return device_info_list_.size(); }
+
+  void BasePointsHandle(LivoxEthPacket *data, LvxBasePackDetail &packet);
+
+private:
+  std::ofstream lvx_file_;
+  std::vector<LvxDeviceInfo> device_info_list_;
+  uint32_t cur_frame_index_;
+  uint64_t cur_offset_;
+};